An Elliptic curve defined over the finite Field $\mathbb F_p$ means that all of the coordinates are elements of $\mathbb F_p$, i.e. in affine coordinates, let $P=(x,y)$ be a point then $x,y \in \mathbb F_p$. Actually, all of the arithmetic is done over $\mathbb F_p$
In the encoding
04 11 95 23 03 f0 f1 f1 45 67 14 98 e4 39 80 ce 25 39 02 6e 72 34 fe 02 38 8a ea cc fb 3a 3d 4d dc d9 6d 3c fe 8b 55 bf ea c3 3a a1 59 13 54 b3 91 79 45 b7 3b 49 d9 0e 96 2a de 79 d3 49 dc 79 ca
The first byte defines the compression and 04 means there is no compression. So, after removing the 04, the first half belongs to $x$ and the second half belongs to $y$ coordinate of the point.
You forgot to take $\bmod p$.
With testing equality of both sides
#Sagemath
x = Integer("0x11952303f0f1f145671498e43980ce2539026e7234fe02388aeaccfb3a3d4ddc")
y = Integer("0xd96d3cfe8b55bfeac33aa1591354b3917945b73b49d90e962ade79d349dc79ca")
a = Integer("0xFFFFFFFF00000001000000000000000000000000FFFFFFFFFFFFFFFFFFFFFFFC")
b = Integer("0x5AC635D8AA3A93E7B3EBBD55769886BC651D06B0CC53B0F63BCE3C3E27D2604B")
p = Integer("0xFFFFFFFF00000001000000000000000000000000FFFFFFFFFFFFFFFFFFFFFFFF")
print(y^2 % p)
print( (x^3 + a * x + b) % p )
#or test with assert
assert(y^2 % p == (x^3 + a * x + b) % p)
outputs
107039974491263683037557989129009082794410266580376414531485756411379666775575
107039974491263683037557989129009082794410266580376414531485756411379666775575
Therefore it is a valid point on the curve.
Using Curves on SageMath
There is another way, and maybe easier on the SageMath. This method uses the Elliptic Curve construction and defining point on the curve.
#secp256r1
a = Integer("0xFFFFFFFF00000001000000000000000000000000FFFFFFFFFFFFFFFFFFFFFFFC")
b = Integer("0x5AC635D8AA3A93E7B3EBBD55769886BC651D06B0CC53B0F63BCE3C3E27D2604B")
p = Integer("0xFFFFFFFF00000001000000000000000000000000FFFFFFFFFFFFFFFFFFFFFFFF")
K = GF(p)
E = EllipticCurve(K,[a,b])
x = Integer("0x11952303f0f1f145671498e43980ce2539026e7234fe02388aeaccfb3a3d4ddc")
y = Integer("0xd96d3cfe8b55bfeac33aa1591354b3917945b73b49d90e962ade79d349dc79ca")
P = E(x,y) ### try to set the point with the coordinates.
If the $P$ is not a point on the curve, you will get many errors
Further notes
In the next steps, you may want to add/double points. The elliptic curve uses special formulas for point addition. You may find them here, or use directly Sagemath, you can just use addition for point additions P+Q and 5*P for scalar multiplication where it is usually written as $[5]P = P + P + P + P +P$
Representation of the point on infinity
Points on the elliptic curve together with the point at infinity $\mathcal{O}$ form an abelian group under point addition law. For secp256r1;
$$E(\mathbb{F_p}) := \{ (x, y) \in \mathbb{F}^2_p \mid y^2= x^3 + a\cdot x + b\} \cup \{\mathcal O\}$$
As we can see, the $\mathcal O$ has no representation on the affine coordinates, we magically add it to the group definition. While mathematically we can handle this, programmatically we need to represent it. If $b \neq 0 \bmod p$ then coordinate $(0,0)$ doesn't satisfy the curve equation therefore it is not on the curve, therefore it is a good choice for representation of $\mathcal O$ and usually selected this way. While working with the libraries always check that how the $\mathcal O$ is represented.
